Other approaches demand the existence of a hyperplane between the vehicle and obstacle at each time instant [1]}, [2]}. This allows the separation of general convex sets.
Some methods formulate the collision avoidance requirement by mixed-integer constraints [3]}. These types of problems are, however, cumbersome to solve in real-time.
For some specific problem types it is possible to transform the system dynamics such that collision-avoidance translates into simple box constraints on the states [4]}, [5]}.
